Position estimating device, position estimating system, location estimation method and location estimation program

摘要

PROBLEM TO BE SOLVED: To provide a position estimation device that enables a position estimation even when an indoor situation changes momentarily.SOLUTION: A position estimation device 1 is associated with a feature point database 16 that includes: an advance registration information storage unit 17 storing advance registration information composed of positional information on an image and feature point information thereon and registered in advance; an automatic registration information storage unit 18 storing automatic registration information composed of the positional information on the image and feature point information thereon and automatically registered by the device. The position estimation device includes: a position estimation processing unit 12 that performs position estimation processing of a position estimation object image on the basis of matching processing of the feature point information on the position estimation object image and the image stored in the feature point database; and an automatic feature point registration processing unit 11 that performs processing for automatically registering the automatic registration information in the feature point database. When a state where the feature point information on the position estimation object image and that on the advance registration information match at a fixed percentage continues, the automatic feature point registration processing unit stores the position estimation object image as the automatic registration information.SELECTED DRAWING: Figure 2E